v1.0.2; fix init reset forever bug

.vscode/launch.json

@@ -24,7 +24,7 @@
             "request": "launch",
             "program": "${workspaceFolder}/robogauge/scripts/run.py",
             "args": [
-                "--task", "go2_moe.slope",
+                "--task", "go2_moe.slope_bd",
                 "--experiment-name", "debug",
                 "--seed", "0",
                 // "--search-max-level",
@@ -34,5 +34,21 @@
             ],
             "console": "integratedTerminal"
         },
+        {
+            "name": "go2 mcp stairs_bd load",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${workspaceFolder}/robogauge/scripts/run.py",
+            "args": [
+                "--task", "go2_moe.stairs_bd",
+                "--model-path", "/data/user/wutianyang/Coding/robotics/go2_rl_gym/logs/go2_mcp_cts/Dec31_01-21-01_/jit_models/policy_jit_0.pt",
+                "--experiment-name", "mcp_debug",
+                "--seed", "3",
+                "--level", "8",
+                "--frictions", "0.5",
+            ],
+            "env": {"DISPLAY": ":1"},
+            "console": "integratedTerminal"
+        },
     ]
 }

UPDATE.md

@@ -1,4 +1,7 @@
 # UPDATE
+## 20251231
+### v1.0.2
+Fix Bug: 当reset初始化静止站立, 可能存在模型连站都站不住, 导致机器人侧翻, 并恰好让target投影到本体坐标系下的xy接近0, 误以为到达了终点, 修改静止站立过程中不让重置环境
 ## 20251230
 ### v1.0.1
 1. quality_score到每个step时计算, 结果更加准确, 可以有效避免站立也能获得高score得分的问题 (因为平均后的score可能相对比较高, 而每一步的score都非常低)

robogauge/tasks/gauge/base_gauge.py

@@ -36,7 +36,7 @@ class BaseGauge:
         self.goals_cfg = class_to_dict(self.cfg.goals)
         self.metrics_cfg = class_to_dict(self.cfg.metrics)
 
-        self.goal_str = ""
+        self.goal_str = "Init"
         self.goal_idx = 0
         self.goals: List[BaseGoal] = []
         self.metrics: List[function] = []

robogauge/tasks/pipeline/base_pipeline.py

@@ -107,7 +107,7 @@ class BasePipeline:
                         self.sim.setup_action(action, p_gains, d_gains, control_type)
                     sim_data = self.sim.step()
                     self.gauge.update_metrics(sim_data, goal_data)
-                if self.gauge.is_reset(sim_data):
+                if not self.first_reset and self.gauge.is_reset(sim_data):
                     sim_data = self.reset_sim_and_robot(sim_data)
             except Exception as e:
                 if str(e).startswith("[Penetration Error]"):